TW201710128A - Baby carriage - Google Patents

Abstract

This baby carriage (1) is equipped with: a baby carriage body (2) which has a frame body (10) that supports a plurality of wheels (4), and a handlebar (20) that is connected to the frame body (10); a drive source (5) which is supported by the baby carriage body (2) and drives at least one rear wheel (42); a detecting element (6) which is provided in the handlebar (20) and detects a load applied to the handlebar (20); and a control device (7) which controls the driving of a wheel (4) to be driven by the drive source (5) on the basis of the information detected by the detecting element (6). The control device (7) adjusts the rotational direction of the wheel (4) to be driven in accordance with the direction of the load detected by the detecting element (6).

Description

Baby carriage

The present invention relates to a stroller that utilizes a drive source to drive a wheel.

A stroller with an electric motor is disclosed, for example, in Japanese Patent No. 2011-68336A. In the stroller described in Japanese Patent No. 2011-68336A, when the operating lever is pressed, the electric motor connected to the wheel is driven. In particular, the stroller described in Japanese Patent No. 2011-68336A uses an electric motor to automatically travel. In other words, the stroller described in Japanese Patent No. 2011-68336A can be independently driven by the driving force of the electric motor without being pushed by the operator.

technical problem

However, the stroller described in Japanese Patent No. 2011-68336A independently travels by the driving force of the electric motor, and thus it is difficult to operate the stroller in accordance with the operator's wishes. In particular, when it is desired to turn the stroller at a turn or an intersection, the operator reduces the speed of advancement in order to perform the steering action, and on the other hand, the electric motor continues to drive the wheel at a constant speed. Therefore, there is a discrepancy (deviation) between the action of the operator and the movement of the stroller, and the stroller cannot be operated as desired.

The present invention has been made in view of the above problems, and an object thereof is to provide a stroller that can be driven by a driving source that can operate a stroller as desired.

The first stroller of the present invention comprises:

a plurality of wheels, including front and rear wheels;

a stroller body having a frame body supporting a plurality of wheels and a handle connected to the frame body;

a driving source supported by the body of the stroller to provide driving force to at least one rear wheel;

Detecting an element disposed on the handle and detecting a message related to a load applied to the handle;

The control device adjusts the driving force provided by the driving source based on the information detected by the detecting component,

The handle has: an operating part for the operator's hand to grasp; and a handle body to connect the operating part with the stroller body;

Wherein, if the detecting element detects a message that the operating member is pushed forward or a message that is pressed downward, the control device causes the driving source to provide a driving force for advancing the wheel, and if the detecting member detects that the operating member is pulled In the backward direction, the control device causes the drive source to provide a driving force for reversing the wheel.

The second stroller of the present invention comprises:

a plurality of wheels, including front and rear wheels;

a stroller body having a frame body supporting a plurality of wheels and a handle connected to the frame body;

a drive source supported by the stroller body and driving at least one rear wheel;

Detecting an element disposed on the handle and detecting a message related to a load applied to the handle;

a control device that controls driving of the wheel by the driving source based on the information detected by the detecting component;

Among them, the control device adjusts the direction of rotation of the driven wheel based on the direction of the load detected by the detecting element.

In the second stroller of the present invention, the handle may have: a handle for the operator's hand; and a handle body that couples the operating member to the stroller body.

In the first stroller or the second stroller of the present invention, the detecting element may include a plurality of strain gauges, and the plurality of strain gauges are mounted on the handle body of the handle, and at least one strain gauge may be pushed forward or turned toward the operating member. The lower press is elongated and shortened when the operating member is pulled back, or is shortened when the operating member is pushed forward or downward, and is elongated when the operating member is pulled back.

In the first stroller or the second stroller of the present invention, the operating member operable member is located further rearward and lower than the joint position of the handle body and the frame main body, or more forwardly and above. position.

In the first stroller or the second stroller of the present invention, the operating member may be located further rearward and lower than the joint position, and the strain gauge may be attached to the joint position of the handle body and the operating member in the handle body and The part between the link locations.

In the first stroller or the second stroller of the present invention, the operating member may be located further forward and above the joint position, and the strain gauge may be attached to the joint position of the handle body and the operating member in the handle body. And the part between the link locations.

In the first stroller or the second stroller of the present invention, the drive source has: a first drive element that provides a driving force to at least one of the plurality of wheels; and a second drive element that is paired with the plurality of wheels The wheels of the first driving element that provide the driving force provide different driving forces for the wheels and are separately provided with the first driving elements.

According to the present invention, the direction in which the driving source drives the wheel can be adjusted based on the direction of the load detected by the detecting element, so that the stroller can be operated as desired.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 16 are schematic views for explaining the stroller 1 according to an embodiment of the present invention. 1 is a schematic view showing the stroller 1 of one embodiment from the front direction. In the stroller 1 shown in Fig. 1, the first seat unit 8a and the second seat unit 8b are supported by the stroller body 2. The first seat unit 8a and the second seat unit 8b are positions where the infant rides, and are arranged side by side. Covers 9a, 9b are provided in each of the seat units 8a, 8b to protect the infants seated on the seat units 8a, 8b from the sun and the wind.

In the present specification, the "front", "back", "upper", "lower", "front and rear direction", and "up and down direction" of the baby carriage 1 and its constituent elements are not specifically described. The term "and the left and right direction" refers to "front", "back", "upper", "lower", based on the operator who operates while holding the handle 20 on the stroller 1 in the unfolded state. "front and rear direction", "up and down direction" and "left and right direction". In more detail, the "front-rear direction d1" corresponds to the inner and outer directions of the paper surface in Fig. 1 . Therefore, unless otherwise specified, "front" refers to the side on which the operator of the handle is pressed, and the outer side of the paper in FIG. 1 is the front. On the other hand, the "up and down direction d3" means a direction perpendicular to the front-rear direction and perpendicular to the ground plane. Therefore, when the ground contact surface is a horizontal plane, the "up and down direction d3" means the vertical direction. In addition, the "left-right direction d2" is a width direction, and is a direction perpendicular to both the "front-back direction d1" and the "up-and-down direction d3".

In Fig. 2, the stroller 1 in a state in which the seat units 8a, 8b are removed is shown from the side. The stroller body 2 shown in FIG. 2 is composed of a frame main body 10 and a handle 20 connected to the frame main body 10.

In the frame main body 10, the upper frame 12 supporting the two seating units 8a, 8b is connected to the base frame 11 supporting a plurality of wheels 4. The upper frame 12 is supported in a state of being inclined with respect to the base frame 11. The front portion of the upper frame 12 and the front portion of the base frame 11 are connected by the front connecting member 13, and the intermediate portion of the upper frame 12 and the rear portion of the base frame 11 are connected by the intermediate connecting member 14. The front connecting member 13 and the intermediate connecting member 14 are connected, and the upper frame 12 is rotatable relative to the base frame 11.

In particular, the base frame 11 is provided with left and right side base frames 11a and 11b which are disposed apart in the left-right direction d2. The rear ends of the left and right side base frames 11a and 11b are coupled by a rear base frame 11c. In the present embodiment, the left and right side base frames 11a and 11b and the rear base frame 11c are integrally formed by bending a single pipe. Among them, the left and right side base frames 11a and 11b and the rear base frame 11c may be formed as separate members.

A front wheel 41 and a rear wheel 42 are attached to the respective side base frames 11a and 11b. In the present embodiment, each of the front wheels 41 is supported by the side base frames 11a, 11b in a rotatable and steerable manner by a caster 3. The caster 3 rotatably supports the front wheel 41 around the rotation axis Ar1, and can be a steering shaft that is not parallel to the rotation axis Ar1, and in the present embodiment, is a rotation axis As1 parallel to a direction perpendicular to the rotation axis Ar1. Turn towards the center. That is, the front wheel 41 is supported by the caster 3 in such a manner as to be able to rotate and change its direction.

On the other hand, each of the rear wheels 42 located rearward of the front wheel 41 is not steerably supported by the casters. In the present embodiment, each of the rear wheels 42 is rotatably supported by the drive shaft 51a (see FIG. 5) of the drive source 5, which will be described later, but cannot be steered.

The upper frame 12 is provided with left and right side upper frames 12a and 12b which are disposed apart in the left-right direction d2. An intermediate frame 12c is disposed between the left and right side upper frames 12a and 12b. In the present embodiment, the first seat unit 8a is disposed between the left side upper frame 12a and the intermediate frame 12c, and the second seat unit 8b is disposed between the right side upper frame 12b and the intermediate frame 12c.

The left and right side upper frames 12a and 12b and the rear end of the intermediate frame 12c are coupled by a rear upper frame 12d. A handle 20 is attached to the rear upper frame 12d. The handle 20 is the part that the operator operates by hand. Regarding the handle 20, description will be made later with reference to FIGS. 7 to 14.

In the illustrated example, the left and right side upper frames 12a and 12b and the rear upper frame 12d are integrally formed by bending and molding from a single pipe. However, the left and right side upper frames 12a and 12b and the rear upper frame 12d may be formed as separate members.

The front ends of the right and left side upper frames 12a and 12b are coupled by a transverse link 12e and an upper side connecting frame 13a. Among them, the lateral link 12e is formed linearly in the left-right direction d2, and the front end of the intermediate frame 12c is connected to the intermediate portion of the lateral link 12e.

The upper side connecting frame 13a has a connecting effect and has a curved shape that protrudes to a region forward of the lateral link 12e. Therefore, the base side connecting frame 13b is placed between the front portion of the upper side connecting frame 13a and the front ends of the left and right side base frames 11a and 11b. The front end of the base side connecting frame 13b is fixed to the upper side connecting frame 13a, and the rear end of the base side connecting frame 13b in the left-right direction is rotatably connected to the left and right side base frames 11a, 11b by the lateral connecting link 13c. The lateral connection link 13c is formed linearly in the left-right direction d2, and is rotatably connected to the front ends of the left and right side base frames 11a and 11b. The front side connecting frame 13a, the base side connecting frame 13b, and the lateral connecting link 13c constitute a front connecting member 13 that generates a connecting action.

In addition, the left and right intermediate connecting members 14 are bridged between the intermediate portions of the right and left side upper frames 12a and 12b and the rear portions of the left and right side base frames 11a and 11b. Each of the intermediate connecting members 14 is connected, and is rotatable with respect to both of the side upper frames 12a and 12b and the side base frames 11a and 11b.

The stroller 1 having the frame structure as above can be folded from the unfolded state shown in Figs. 1 and 2 to the folded state shown in Fig. 3. Fig. 3 is a side view showing the stroller 1 shown in Fig. 2 in a folded state.

First, the lock between the side upper frames 12a and 12b and the upper side connecting frame 13a is released, and the handle 20 is lowered downward by its own weight. By this operation, the upper side connecting frame 13a, the base side connecting frame 13b, and the intermediate connecting member 14 are rotated counterclockwise in FIG. 3, and are folded so that the upper frame 12 overlaps the base frame 11.

As a result of the above folding operation, as shown in FIG. 3, the base frame 11 and the upper frame 12 are arranged close to each other in the side view of the stroller 1, and are arranged substantially in parallel. On the other hand, in order to restore the stroller 1 from the folded state shown in FIG. 3 to the unfolded state shown in FIG. 2, the reverse of the above-described folding operation may be employed.

Here, in the stroller 1 of the present embodiment, the drive source 5 is connected to the wheel 4 in order to reduce the burden on the operator. However, as described in the prior art, since the conventional stroller is configured as a so-called self-propelled stroller, it is difficult to operate the stroller as desired. Therefore, the stroller 1 of the present embodiment is configured as an auxiliary drive type stroller that provides a driving force to the wheel 4 in accordance with the running operation of the operator.

In Fig. 4, a mechanism for assisting the driving of the vehicle 4 is schematically illustrated by a block diagram. As shown in FIG. 4, drive elements 51, 52 are connected to several of the plurality of wheels 4. The drive elements 51 and 52 are constituent elements for driving the wheel 4, in other words, constituent elements for supplying the driving force to the wheel 4. In the present embodiment, two drive elements are provided, namely a first drive element 51 and a second drive element 52, which drive the left rear wheel 42 to the right The rear wheel 42 is driven.

An example of the configuration of the drive elements 51 and 52 is shown in FIG. As shown in Fig. 5, each of the drive elements 51, 52 is composed of drive shafts 51a, 52a connected to the corresponding rear wheel 42, and DC motors 51b, 52b for driving the drive shafts 51a, 52a. One end of the drive shafts 51a, 52a is connected to the rear wheel 42 of the corresponding one side so as not to be steered, but the rear wheel 42 can be supported by rotating the rotation axis Ar2 as a center. The other ends of the drive shafts 51a and 52a are coupled to the main shafts of the DC motors 51b and 52b by power transmission elements (for example, gears) (not shown). Here, the drive shafts 51a and 52a may be integrally formed with the main shafts of the direct current motors 51b and 52b, or may be configured as separate members.

The DC motors 51b and 52b are disposed in the storage case 70 supported by the rear base frame 11c, and are supported by the rear base frame 11c in the storage case 70. The connection relationship between the DC motors 51b, 52b is shown in a circuit diagram in Fig. 6. As shown in Fig. 6, the DC motors 51b, 52b of the two drive elements 51, 52 are connected in series with the power source 75. By connecting the two DC motors 51b and 52b in series, it is helpful to adjust the driving force in accordance with the load from the ground plane, which will be described later.

Returning to Fig. 4, each of the drive elements 51, 52 is connected to the control unit 7, and is controlled by the control unit 7. A detection element 6 is also connected to the control device 7, and a message from the detection element 6 is read as an input message to the control device 7. Therefore, the control device 7 controls the respective driving elements 51, 52 based on the information from the detecting element 6, and adjusts the driving force from each of the driving elements 51, 52 to the wheel 4. Further, the control device 7 is connected to a power source 75 that is detachably fixed to the storage case 70. Such a control device 7 can be realized, for example, in the form of a microcontroller or a programmable logic controller (PLC) provided with a central processing unit (CPU) and a recorder (REGISTER).

The detecting element 6 detects a message related to the running operation input to the stroller body 2. The message related to the running operation detected by the detecting element 6 is not particularly limited as long as it is a message input from the operator to the stroller body 2. As an example of the message related to the running operation, a message relating to the load of the hand from the operating handle 20, a message relating to the speed of the stroller 1 and the rotational speed of the wheel 4 associated with the speed can be detected.

Returning to FIG. 2, the detecting element 6 of the present embodiment is disposed on the handle 20, and is configured to detect a message related to the load applied to the handle 20, in other words, to detect a message capable of determining the load applied to the handle 20. First, the configuration of the handle 20 will be described. Next, the detecting element 6 provided on the handle 20 will be described.

The handle 20 is shown enlarged in FIG. As shown in FIG. 7, the handle 20 is provided with an operation member 21 gripped by an operator's hand, and the handle main body 22 connects the operation member 21 and the stroller body 2. The handle body 22 is fixedly coupled to the upper frame 12 at a connection position c1 to the upper frame 12.

In particular, as an element constituting the handle body 22, the column 22a extends from the rear upper frame 12d, and the side bars 22b and 22c are disposed on both sides of the column 22a. The operation member 21 is configured as two handles 21a and 21b which are spaced apart in the left-right direction d2 and are arranged in parallel. The handle 21a on the left side is placed between the side bar 22b on the left side and the column 22a, and the handle 21b on the right side is placed on the side bar 22c on the right side. Between the column 22a.

The detecting element 6 provided on the column 22a is shown enlarged in Fig. 8, and the circuit diagram of the detecting element 6 is shown in Fig. 9. As shown in FIGS. 8 and 9, a plurality of strain gauges 61 as the detecting elements 6 are attached to the inner square 22d in the column 22a. A plurality of strain gauges 61 constitute a bridge circuit to measure the deformation of the handle body 22. In the example shown in Fig. 8, two strain gauges 61 are disposed on the upper surface of the square inner square material 22d, and two strain gauges 61 are disposed on the lower surface of the inner square material 22d. The sheets 61 are identical to each other. Here, the illustrated inner square 22d is hollow, but may be solid.

In FIG. 10, an example of control for determining the driving force supplied from the driving elements 51, 52 based on the deformation detected by the strain gauge 61 is shown in the form of a graph. In the graph of Fig. 10, the horizontal axis represents the deformation detected by the strain gauge 61, and the strain gauge 61 attached to the upper surface of the inner square 22d is elongated and attached to the lower side of the inner square 22d. When the strain gauge 61 of the surface is shortened, it is set to a positive value, and the strain gauge 61 attached to the upper surface of the inner square 22d is shortened, and the surface strain gauge 61 attached to the lower side of the inner square 22d is elongated. In the case of a negative value. The vertical axis indicates the driving force for driving the wheel 4, and the driving force for rotating the wheel 4 in the forward direction is set to a positive value, and the driving force for rotating the wheel 4 in the backward direction is set to a negative value.

As shown in FIG. 10, when the magnitude of the deformation detected by the strain gauge 61 is smaller than the lower limit value α1, the control device 7 performs the driving force generated by the driving elements 51 and 52 without supplying the driving force to the wheels 4. control. According to this, even if an external disturbance or an inadvertent operation is applied to the stroller 1, the stroller 1 can be prevented from accidentally moving.

If the magnitude of the deformation detected by the strain gauge 61 is larger than the lower limit value α1, the control device 7 supplies the wheel 4 with the driving force generated by the driving elements 51, 52 in proportion to the magnitude of the deformation detected by the strain gauge 61. Way to control. In the graph of FIG. 10, when the target strain gauge 61 is extended, a driving force for rotating the wheel 4 in the forward direction is provided, and when the target strain gauge 61 is shortened, the wheel 4 is provided to be retracted. The driving force for the direction of rotation.

On the other hand, if the magnitude of the deformation applied to the handle 20 is larger than the upper limit value α2, the control device 7 sets the driving force generated by the driving elements 51, 52 to the upper limit driving force F and supplies it to the wheel 4. control.

Next, the operation of the present embodiment configured as described above will be described.

In particular, as can be understood from FIG. 2, the four strain gauges 61 constituting the detecting element 6 are located above the operating member 21 in the up-and-down direction d3, and the operating member 21 is located further rearward than the joint position c1 and more. Below the position. According to such an arrangement, the strain gauge 61 functions as shown in FIGS. 11 to 14 below. 11 to 14 are views for explaining the action of the strain gauge 61 when the handle 20 is operated. In the following description, when the inner square 22d is divided into two portions by a plane parallel to the longitudinal direction thereof, the upper portion is referred to as the upper region A1, and the lower portion is referred to as the lower portion. Area A2 (refer to Fig. 8).

As shown in FIG. 11, when the operator holds the operation member 21 and pushes the stroller 1 forward in the front-rear direction d1, the upper region A1 of the inner square 22d is elongated and the lower region A2 is shortened. The information that the upper region A1 is elongated and the lower region A2 is shortened is measured by four strain gauges 61. The message measured by the strain gauge 61 is sent to the control device 7. The control device 7 that has received the message recognizes that the operation member 21 is pushed forward or pressed downward, and supplies a current corresponding to the value measured by the strain gauge 61 to the DC motor 51b in which the two drive elements 51, 52 are connected in series, 52b circuit. As a result, the DC motors 51b and 52b rotate, and the drive shafts 51a and 52a connected to the DC motors 51b and 52b rotate the rear wheels 42 in the forward direction. Accordingly, the rotation of the rear wheel 42 is assisted by the drive shafts 51a, 52a, thereby reducing the burden on the operator to push the stroller 1 forward.

In the case where there is a step on the running road surface, the operator presses the operating member 21 downward in the up-down direction d3 to make the front wheel 41 float. As shown in FIG. 12, the operator presses the operating member 21 downward as in the case of FIG. 11, and the upper region A1 of the inner square 22d is elongated and the lower region A2 is shortened. The message that the upper region A1 is elongated and the lower region A2 is shortened is measured by the four strain gauges 61 and sent to the control device 7. The control device 7 that has received the message recognizes that the operation member 21 is pushed forward or pressed downward, and supplies a current corresponding to the value measured by the strain gauge 61 to the circuit in which the two DC motors 51b and 52b are connected in series. As a result, the DC motors 51b and 52b rotate, and the drive shafts 51a and 52a connected to the DC motors 51b and 52b rotate the rear wheels 42 in the forward direction. In other words, the rear wheel 42 is rotated in the forward direction in the same manner as when the operation member 21 is pushed downward. As a result, even in the operation of crossing the step, the driving force generated by the driving source 5 can be received, and the stroller 1 can be pushed without a burden.

On the other hand, when the stroller 1 is pushed uphill, as shown in Fig. 13, the operator holds the operating member 21 to pull the stroller 1 rearward in the front-rear direction d1. In this case, contrary to the case of FIGS. 11 and 12, the upper region A1 of the inner square 22d is shortened and the lower region A2 is elongated. The message that the upper region A1 is shortened and the lower region A2 is elongated is measured by the four strain gauges 61 and sent to the control device 7. The control device 7 that has received the message recognizes that the operating member 21 is pulled rearward, and the current corresponding to the value measured by the strain gauge 61 is supplied in reverse to the case of FIGS. 11 and 12 to have two direct currents connected in series. The circuits of the motors 51b, 52b. As a result, the DC motors 51b and 52b rotate, and the drive shafts 51a and 52a connected to the DC motors 51b and 52b rotate the rear wheel 42 in the backward direction. Accordingly, the rotation of the rear wheel 42 is assisted by the drive shafts 51a and 52a, thereby reducing the burden on the operator to pull the stroller 1 backward.

Next, when the stroller 1 is turned, as shown in FIG. 14, the baby stroller 1 can be steered by making a difference in the force which pushes the two handles 21a and 21b forward. In the example shown in Fig. 14, the force of the handle 21b acting on the right side is made larger than the force acting on the handle 21a on the left side, so that the stroller 1 can be turned in the left-hand direction. Even if different forces are applied to the two handles 21a, 21b, as in the case of Fig. 11, the upper region A1 of the inner square 22d is elongated and the lower region A2 is shortened. The message that the upper region A1 is elongated and the lower region A2 is shortened is measured by the four strain gauges 61 and sent to the control device 7. The control device 7 that has received the message detected by the strain gauge 61 recognizes that the operation member 21 is pushed forward or pressed downward, and supplies a current corresponding to the value measured by the strain gauge 61 to the two DC motors 51b, 52b in series. Connected circuit. In the series circuit shown in FIG. 6, in the case where the two DC motors 51b, 52b have the same configuration, the magnitudes of the currents flowing through the two DC motors 51b, 52b are also the same, and therefore the two DC motors 51b, 52b are considered to be the same. The driving force supplied to the wheels 4 is also equal.

However, when the stroller 1 is turned in the left-hand direction, the resistance from the ground contact surface acts more strongly on the wheel 4 that becomes the left side of the inner wheel than the wheel 4 that is the right side of the outer wheel, and is connected to the left side as the inner wheel. The DC motor 51b of the wheel 4 is difficult to rotate. When the number of rotations of the direct current motor 51b connected to the wheel 4 on the left side of the inner ring is lowered, the counter electromotive force generated in the direct current motor 51b is lowered, and a large current is easily flowed to the series circuit. As a result, the current flowing through the DC motor 52b connected to the wheel 4 on the right side of the outer wheel is relatively large, and it is possible to provide a larger driving force to the wheel 4 on the right side of the outer wheel. Thereby, it is easy to rotate the wheel 4 which becomes the right side of an outer wheel, and as a result, a steering operation can be performed smoothly.

As described above, the stroller 1 of the present embodiment includes: the stroller body 2; a plurality of wheels 4 supported by the stroller body 2; supported by the stroller body 2, and the driving force is supplied to at least one of the plurality of wheels 4 a drive source 5; a detecting element 6 for detecting a message related to the running operation of the stroller body 2; and controlling the driving source 5 based on the message detected by the detecting element 6 to adjust the driving force supplied from the driving source 5 to the wheel 4. Control device 7. According to such a configuration, the driving force supplied to the wheel 4 by the drive source 5 can be adjusted in accordance with the running operation of the stroller 1, so that the inconsistency (deviation) between the movement of the operator and the movement of the stroller can be reduced. Operate the stroller 1 as intended.

Further, according to the present embodiment, among the plurality of wheels 4, the wheel that provides the driving force by the driving source 5 is the rear wheel 42, and the front wheel 41 of the plurality of wheels 4 is supported by the stroller body 2 by the caster 3. Since the front wheel 41 is supported by the stroller body 2 by the caster 3, the steering operation of the stroller 1 can be smoothly performed. Further, in consideration of the center of gravity of the infant who is seated on the stroller 1 by the handle 20 operated by the operator, it is considered that the load is easily applied to the rear wheel 42 and the rear wheel 42 is stably in contact with the ground contact surface. By supplying the driving force from the driving source 5 to the rear wheel 42 that is stably grounded, the driving assistance by the driving source 5 can be stably realized.

Further, according to the present embodiment, the drive source 5 has: a first drive element 51 that supplies a driving force to at least one of the plurality of wheels 4; and a driving force is supplied to the plurality of wheels 4 by the first The drive element 51 provides a different drive wheel 4 for the wheel 4 and a second drive element 52 which is provided separately from the first drive element 51. According to such a form, it is possible to appropriately distribute the driving force in accordance with the running state of the stroller 1 by supplying different driving forces to the different wheels 4.

Further, according to the present embodiment, the position of the wheel 4 which is provided with the driving force by the first driving element 51 and the wheel 4 which is provided with the driving force by the second driving element 52 are different in the left-right direction d2, the first driving element 51 and the second driving The elements 52 each include a direct current motor, and the direct current motor 51b of the first drive element 51 and the direct current motor 52b of the second drive element 52 are connected in series with the power source 75. When the stroller 1 is steered, the resistance from the ground contact surface acts more strongly on the wheel 4 that becomes the inner wheel than the wheel 4 that becomes the outer wheel. Therefore, when the DC motors 51b and 52b of the two drive elements 51 and 52 are connected in series, the DC motor 51b connected to the wheel 4 serving as the inner wheel becomes difficult to rotate. When the number of revolutions of the direct current motor 51b connected to the wheel 4 that becomes the inner wheel is lowered, the counter electromotive force generated in the direct current motor 51b is lowered, so that a large current flows easily in the series circuit. As a result, the current flowing through the DC motor 52b connected to the wheel 4 that becomes the outer wheel becomes relatively large, and it is possible to provide a larger driving force to the wheel 4 that becomes the outer wheel. As described above, when the DC motors 51b and 52b of the two drive elements 51 and 52 are connected in series, the wheel 4 that becomes the outer wheel during the steering operation is easily rotated, and the steering operation can be smoothly performed.

Further, according to the present embodiment, the stroller body 2 has the frame main body 10 supporting a plurality of wheels 4; and the handle 20 connected to the frame main body 10, the detecting member 6 is provided to the handle 20, and detects the load applied to the handle 20. Related information. By selecting a message related to the load applied to the handle 20 as a message related to the running operation input to the stroller body 2, the driving force can be supplied from the driving source 5 according to the willingness of the operator in connection with the running operation. To the wheel 4.

Further, according to the present embodiment, the handle 20 has the operating member 21 gripped by the operator's hand; and the handle body 22 that connects the operating member 21 and the stroller body 2, and if the detecting member 6 detects that the operating member 21 is pushed toward In the case of the front message or the message pressed downward, the control device 7 causes the drive source 5 to provide a driving force for advancing the wheel 4, and if the detecting element 6 detects that the operating member 21 is pulled rearward, the control device 7 causes the control device 7 to The drive source 5 provides a driving force for retracting the wheel 4. According to such an aspect, the direction in which the drive source 5 drives the wheel 4 can be adjusted in cooperation with the operation of the operating member 21 by the operator. In particular, according to the present embodiment, even when the operation member 21 is pressed downward to step over the ground surface or the like so that the front wheel 41 is suspended, the drive source 5 is driven to advance the wheel 4. Therefore, even in the course of the operation over the step, the assistance of the driving force by the driving source 5 can be received, and the stroller 1 is pushed without excessive burden.

Further, according to the present embodiment, the detecting element 6 includes a plurality of strain gauges 61 attached to the handle body 22 of the handle 20, and at least one strain gauge 61 is elongated when the operating member 21 is pushed forward or downward, at the operating member 21 It is shortened when pulled back, or is shortened when the operating member 21 is pushed forward or downward when it is pulled backward. According to such a configuration, the detecting element 6 is realized by the strain gauge 61, so that a complicated structure can be avoided, and the operator's operation of the operation member 21 can be stably detected. The operation member 21 may be disposed at a position further rearward and lower than the joint position c1 of the handle body 22 and the frame body 10, or more forward, based on a viewpoint of more stably detecting the operator's operation of the operation member 21. More above.

In particular, according to the present embodiment, the operation member 21 is located further rearward and lower than the joint position c1, and the strain gauge 61 is mounted between the connection position with the operation member 21 and the joint position c1 in the handle body 22. part. In this case, in conjunction with the load applied from the operator to the operating member 21, the portion of the handle body 22 to which the strain gauge 61 is attached is excellent in elasticity and contraction. Therefore, the strain gauge 61 can further accurately detect the operator's operation of the operation member 21.

Further, according to the present embodiment, the stroller 1 provided includes: a plurality of wheels 4 including a front wheel 41 and a rear wheel 42, a frame body 10 having a plurality of wheels 4, and a stroller body coupled to the handle 20 of the frame body 10. a driving source 5 supported by the stroller body 2 to drive at least one rear wheel 42; a detecting element 6 disposed on the handle 20 to detect a message related to a load applied to the handle 20; and detected based on the detecting element 6 The control device 7 for controlling the driving of the wheel 4 generated by the drive source 5, the control device 7 adjusts the direction of the rotation of the drive wheel 4 in accordance with the direction of the load detected by the detecting element 6. According to this aspect, since the direction in which the drive source 5 drives the wheel 4 can be adjusted in accordance with the direction of the load detected by the detecting element 6, the stroller 1 can be operated as desired.

It should be noted that various changes can be made to the above-described embodiments. An example of the modification will be described below.

For example, in the above-described embodiment, an example in which two seat units 8a and 8b are provided side by side is shown, but the number of the seat units 8a and 8b is not limited to such an example. For example, a single seating unit may be provided, or more than two seating units may be provided, and the two or more seating units are arranged in front and rear.

Further, in the above-described embodiment, the examples in which the DC motors 51b and 52b of the two drive elements 51 and 52 are connected in series with respect to the power source 75 are shown, but the circuit design related to the DC motors 51b and 52b is not limited to the above. example. The DC motors 51b, 52b of the two drive elements 51, 52 can also be connected in parallel with respect to the power supply 75.

Further, in the above-described embodiment, the example in which the detecting element 6 is constituted by the strain gauge 61 is shown, but the form of the detecting element 6 is not limited to the above example. The detecting element 6 may have any configuration as long as it can detect a message related to the traveling operation input to the stroller body 2, and may be configured as a torque sensor attached to the handle body 22 and pressure sensing as another example. , magnetostrictive sensor or a combination thereof. For example, as the pressure sensor, it may be a type that captures a load applied to the handle 20 as a change in pressure of the working fluid, which is outputted in the form of an electric signal after being measured by the pressure sensitive element through the diaphragm.

Further, in the above-described embodiment, the column 22a composed of a single pillar is connected to the rear upper frame 12d and the operation member 21, but the form of the handle body 22 is not limited to the above example. The column 22a may be composed of a plurality of pillars, and the rear upper frame 12d and the operation member 21 are coupled to each other.

Further, in the above-described embodiment, the example in which the handle body 22 has the column 22a and the two side bars 22b and 22c is shown, but the form of the handle body 22 is not limited to the above example. Another form of the handle body 22 is shown in FIG. In the example shown in Fig. 15, the handle main body 22 composed of a single pipe is stretched from between the two handles 21a, 21b to the upper frame 12. In such a case, the same operational effects as those of the above-described embodiment can be produced.

Further, in the above-described embodiment, the example in which the operation member 21 is located further rearward than the connection position c1 is shown, but the arrangement of the operation member 21 is not limited to the above example. The strain gauge 61 as the object is elongated as long as the operating member 21 is pushed forward or pressed downward, and is shortened when the operating member 21 is pulled back, or when the operating member 21 is pushed forward or pressed down It is shortened and can be extended when the operating member 21 is pulled back, and the arrangement of the operating member 21 is arbitrary. FIG. 16 shows another configuration example of the operating member 21. In the example shown in FIG. 16, the operation member 21 is located further forward and above the connection positions c1 to c3.

In particular, the handle body 22 shown in Fig. 16 is configured as three links 22f to 22h extending from the upper frame 12 to the ends of either of the two handles 21a, 21b. Specifically, the left side link 22f is erected from the upper frame 12 to the left end of the handle 21a on the left side, the center side link 22g is erected from the upper frame 12 to between the two handles 21a, 21b, and the right side link 22h is erected from the upper frame 12 To the right end of the handle 21b on the right side. The respective links 22f to 22h are pivotally connected to the upper frame 12 at connection positions c1 to c3 with the upper frame 12.

Further, in the example shown in Fig. 16, a plurality of strain gauges 61 constituting the bridge circuit are attached to the center side link 22g. Further, the strain gauge 61 is located closer to the rear than the operation member 21.

In the configuration shown in Fig. 16, the detecting member 6 also includes a plurality of strain gauges 61 attached to the handle body 22 of the handle 20, and at least one strain gauge 61 is elongated when the operating member 21 is pushed forward or pressed downward. And shortened when the operating member 21 is pulled back, or shortened when the operating member 21 is pushed forward or pressed down, or when the operating member 21 is pulled back. In this case, the detecting element 6 is realized by the strain gauge 61, so that a complicated configuration can be avoided, and the operator's operation of the operation member 21 can be stably detected.

Further, according to the embodiment shown in Fig. 16, the operation member 21 is located further forward than the connection positions c1 to c3, and the strain gauge 61 is attached to the connection member 21 of the handle main body 22 and the operation member 21. And the part between the link position c2. In this case, in conjunction with the load applied from the operator to the operating member 21, the portion of the handle body 22 to which the strain gauge 61 is attached is excellent in elasticity and contraction. Therefore, the strain gauge 61 can further accurately detect the operator's operation of the operation member 21.

Incidentally, although various modifications of the embodiment described above have been described, it goes without saying that a plurality of modifications may be combined as appropriate.

1‧‧‧ baby carriage
10‧‧‧Framework body
11‧‧‧Base frame
11a, 11b‧‧‧ side base frame
11c‧‧‧ rear base frame
12‧‧‧ upper frame
12a, 12b‧‧‧ side upper frame
12c‧‧‧Intermediate framework
12d‧‧‧ Rear upper frame
12e‧‧‧Transverse link
13‧‧‧ Front connecting parts
13a‧‧‧Upper side connection frame
13b‧‧‧Base side connection frame
13c‧‧‧Horizontal link
14‧‧‧Intermediate connecting parts
2‧‧‧ baby stroller body
20‧‧‧handle
21‧‧‧Operating parts
21a, 21b‧‧‧Handles
22‧‧‧Handle body
22a‧‧‧column
22b, 22c‧‧‧ sidebar
22d‧‧‧inside square
22f～22h‧‧‧ Connecting rod
3‧‧‧Small casters
4‧‧‧ Wheels
41‧‧‧ Front wheel
42‧‧‧ Rear wheel
5‧‧‧ drive source
51, 52‧‧‧ drive components
51a, 52a‧‧‧ drive shaft
51b, 52b‧‧‧ DC motor
6‧‧‧Detection components
61‧‧‧ strain gauges
7‧‧‧Control device
70‧‧‧ storage box
75‧‧‧Power supply
8a, 8b‧‧‧ seating unit
9a, 9b‧‧‧canopy
A1‧‧‧ upper area
A2‧‧‧ lower area
Ar1, Ar2, As1‧‧‧ rotation axis
C1~c3‧‧‧ link location
D1‧‧‧ direction
D2‧‧‧ direction
D3‧‧‧ upper and lower directions α1‧‧‧ lower limit α2‧‧‧ upper limit
F‧‧‧Upper driving force

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view showing the baby carriage of an embodiment in an unfolded state from the front. Fig. 2 is a schematic view showing a state in which the stroller in the unfolded state shown in Fig. 1 has the seat unit removed. Fig. 3 is a schematic view showing the stroller shown in Fig. 2 in a folded state from the side. Fig. 4 is a block diagram schematically showing the configuration of the stroller shown in Fig. 1; Fig. 5 is a perspective view showing the driving element and the wheel of the stroller shown in Fig. 1 from the rear side. Fig. 6 is a circuit diagram showing a connection relationship of a direct current motor constituting a drive element. Fig. 7 is a plan view showing, in an enlarged manner, a handle of the stroller shown in Fig. 1. Fig. 8 is a schematic view for explaining the configuration of a detecting element provided in the handle of the stroller shown in Fig. 1. Fig. 9 is a circuit diagram of the detecting element shown in Fig. 8. Fig. 10 is a graph showing an example of adjusting a driving force generated by a driving element based on a message from a detecting element. Fig. 11 is a schematic view for explaining the action of the detecting element when the handle of the stroller shown in Fig. 1 is advanced forward. Fig. 12 is a schematic view for explaining the action of the detecting element when the handle of the stroller shown in Fig. 1 is pressed downward. Fig. 13 is a schematic view for explaining the action of the detecting element when the handle of the stroller shown in Fig. 1 is pulled rearward and downhill. Fig. 14 is a perspective view for explaining a state in which the stroller shown in Fig. 1 is turned. Fig. 15 is a perspective view showing another embodiment of the handle body of the handle shown in Fig. 7; Fig. 16 is a perspective view showing another example of the arrangement of the operating members of the handle shown in Fig. 7;

10‧‧‧Framework body

11‧‧‧Base frame

11a, 11b‧‧‧ side base frame

11c‧‧‧ rear base frame

12‧‧‧ upper frame

12a, 12b‧‧‧ side upper frame

12c‧‧‧Intermediate framework

12d‧‧‧ Rear upper frame

12e‧‧‧Transverse link

13‧‧‧ Front connecting parts

13a‧‧‧Upper side connection frame

13b‧‧‧Base side connection frame

13c‧‧‧Horizontal link

14‧‧‧Intermediate connecting parts

2‧‧‧ baby stroller body

20‧‧‧handle

21‧‧‧Operating parts

21a, 21b‧‧‧Handles

22‧‧‧Handle body

22a‧‧‧column

22b, 22c‧‧‧ sidebar

3‧‧‧Small casters

4‧‧‧ Wheels

41‧‧‧ Front wheel

42‧‧‧ Rear wheel

5‧‧‧ drive source

51, 52‧‧‧ drive components

6‧‧‧Detection components

61‧‧‧ strain gauges

7‧‧‧Control device

70‧‧‧ storage box

75‧‧‧Power supply

Ar1, Ar2, As1‧‧‧ rotation axis

D1‧‧‧ direction

D2‧‧‧ direction

D3‧‧‧Up and down direction

Claims (8)

A stroller comprising: a plurality of wheels including a front wheel and a rear wheel; a stroller body having a frame body supporting the plurality of wheels and a handle connected to the frame body; a driving source supported by the stroller body, At least one of the rear wheels provides a driving force; a detecting component is disposed on the handle, and detects a message related to a load applied to the handle; and a control device controls the driving source based on the message detected by the detecting component, and adjusts a driving force provided by the driving source to the wheel; wherein the handle has: an operating member for the operator's hand to grasp; and a handle body that connects the operating member to the stroller body; if detected by the detecting component When the operating member is pushed forward or pressed downward, the control device causes the driving source to provide a driving force for advancing the wheel, and if the detecting member detects that the operating member is pulled rearward In response to the message, the control device causes the drive source to provide a driving force to retract the wheel. A stroller comprising: a plurality of wheels including a front wheel and a rear wheel; a stroller body having a frame body supporting the plurality of wheels and a handle coupled to the frame body; a drive source supported by the stroller body, and Driving at least one of the rear wheels; detecting a component disposed on the handle and detecting a message related to a load applied to the handle; and controlling means for controlling the wheel by the driving source based on the detected signal of the detecting component The driving is performed; wherein the control device adjusts the direction of rotation of the driven wheel based on the direction of the load detected by the detecting element. The stroller of claim 2, wherein the handle has: an operating member for the operator's hand to grasp; and a handle body that couples the operating member to the stroller body. The baby carriage of claim 1 or 3, wherein the detecting component comprises a plurality of strain gauges, the plurality of strain gauges are mounted on the handle body of the handle, and at least one strain gauge is forwarded in the operating component Pushing or being stretched downwards is shortened and shortened when the operating member is pulled back, or shortened when the operating member is pushed forward or downward, and elongated when the operating member is pulled back. The stroller of claim 4, wherein the operating member is located further rearward and lower than the joint position of the handle body and the frame body, or more forwardly and above. . The stroller of claim 5, wherein the operating member is located further rearward and lower than the joint position; the strain gauge is mounted to the handle body of the handle body and the operating member The part between the connection position and the connection position. The stroller of claim 5, wherein the operating member is located further forward and above the joint position; the handle body and the operating member of the strain gauge mounted in the handle body The part between the connection position and the connection position. The baby carriage of claim 1 or 2, wherein the driving source has: a first driving element that provides a driving force to at least one of the plurality of wheels; and a second driving element that pairs the plurality of A different wheel of the wheel in the wheel that provides a driving force by the first driving element provides a driving force and is separately provided from the first driving element.